Efficient material recovery facility

ABSTRACT

An efficient material recovery facility is disclosed, including: a first sorting device configured to: process a first instruction to remove a first target item from a set of items; and in response to the first instruction, perform a first sorting action to remove the first target item from the set of items, wherein the set of items excluding at least the first target item is to be transported towards a second sorting device, wherein the second sorting device is associated with a same sorting device type as the first sorting device; and wherein the second sorting device is configured to perform a second sorting action to remove a second target item from the set of items excluding at least the first target item in response to receiving a second instruction to remove the second target item.

CROSS REFERENCE TO OTHER APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/409,624, entitled EFFICIENT MATERIAL RECOVERY FACILITY filed Aug. 23,2021 which is incorporated herein by reference for all purposes, whichclaims priority to U.S. Provisional Patent Application No. 63/087,045entitled EFFICIENT MATERIAL RECOVERY FACILITY filed Oct. 2, 2020 whichis incorporated herein by reference for all purposes.

BACKGROUND OF THE INVENTION

An issue with current material recovery facilities (MRFs) is that themachinery used and the operational paradigms they employ do not permitfinancially viable recirculation of material. This means that manyfacilities only capture ˜50-80% of the total value of recyclables.Furthermore, a conventional material recovery facility is usuallymulti-leveled so that conveyors can be located on different levels tocreate height differentials between consecutive conveyors. Then, itemscan drop between conveyors that are placed on different levels and besorted during the drop. The multiple level requirement of a conventionalmaterial recovery facility is both expensive and difficult to satisfy.As such, there is a need to efficiently recover valuable materials at amaterial recovery facility while also maintaining the purity level ofrecovered materials at the facility.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

FIG. 1 is a diagram showing an example of a modular sorting unit.

FIG. 2A is a diagram showing an example of a sorting control device.

FIG. 2B is a diagram showing an example of a sorting device.

FIG. 3 is a diagram showing an example of a series of angled conveyordevices in a sorting line within a material recovery facility.

FIG. 4 is a diagram showing two example conveyor devices and two sortingdevices that are located at the junction between the two conveyordevices.

FIG. 5 is a diagram showing a series of sorting units in a sorting lineof a material recovery facility and where the conveyor devices arelocated on the same plane.

FIG. 6 is a diagram showing an embodiment of an efficient materialrecovery facility with a single sorting line.

FIG. 7 is a diagram showing an example of recirculating materialsthrough a single sorting line.

FIG. 8 is a diagram showing an example of a last sorting device in asorting line that is configured to select materials for recirculation.

FIG. 9 is a diagram showing an example of a detachable sorting device.

FIG. 10 is a diagram showing an embodiment of an efficient materialrecovery facility with multiple, parallel sorting lines.

FIG. 11 is a diagram showing another embodiment of an efficient materialrecovery facility with multiple, parallel sorting lines.

FIG. 12 is a flow diagram showing an embodiment of a process forrecirculating a set of materials in a material recovery facility.

FIG. 13 is a flow diagram showing an embodiment of a process forrecirculating a set of materials in a material recovery facility.

FIG. 14 is a flow diagram showing an example of a process fordynamically reconfiguring tunable parameters associated with a materialrecovery facility.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter; a computerprogram product embodied on a computer readable storage medium; and/or aprocessor, such as a processor configured to execute instructions storedon and/or provided by a memory coupled to the processor. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention. Unless stated otherwise, a component such as aprocessor or a memory described as being configured to perform a taskmay be implemented as a general component that is temporarily configuredto perform the task at a given time or a specific component that ismanufactured to perform the task. As used herein, the term ‘processor’refers to one or more devices, circuits, and/or processing coresconfigured to process data, such as computer program instructions.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

Embodiments of an efficient and reconfigurable material recoveryfacility are described herein. In various embodiments, each of one ormore sorting lines of a material recovery facility may be implementedusing a series of one or modular sorting units. In some embodiments,each modular sorting unit comprises at least a conveyor device, anobject recognition device, a sorting control device, and a sortingdevice. Each modular sorting unit transports a stream of items on theconveyor device, receives sensed data (e.g., images) of the items on theconveyor device using the object recognition device, determines whichitems of the stream are target item(s) to be removed from the conveyordevice using the sorting control device, and then removes the targetitem(s) from the material stream and into corresponding collectioncontainers using the sorting device. In various embodiments, the sortingcontrol device is configured to instruct the sorting device which targetitems to remove from the stream of items using one or more tunablesorting parameters. In various embodiments, in response to theinstruction (e.g., from the sorting control device, a local processor,or a cloud server), the sorting device is configured to perform asorting action on a target item to remove it from the stream of items.In some embodiments, detected events at the material recovery facilitymay cause the tunable sorting parameter(s) of the sorting control deviceof one or more modular sorting devices to be updated (e.g., to thereforemodify the manner in which items are removed from the stream by thecorresponding sorting devices).

As the need for serial sorting (e.g., removal) of items and/or parallelsorting (e.g., removal) of items changes or in response to other events,modular sorting units may be flexibly removed from or added to one ormore parallel sorting lines within the material recovery facility. Invarious embodiments, each conveyor device in a series of conveyordevices within a sorting line is angled relative to the surface (e.g.,the floor) on which the conveyor device is placed so as to propel theitems that fall off the conveyor device along a ballistic trajectory.Target items will be removed from the stream mid-fall while non-targetitems will be allowed to land on the next conveyor device within theseries of conveyor devices. As will be described in examples below,“target” items can be either materials that are desired to be recovered(e.g., recyclable materials) or materials that are not desired to berecovered (e.g., contaminant items), depending on the application of thesorting device. Angling each conveyor device will increase both thevertical and horizontal movements of the items in the stream from oneconveyor device to the next and thereby permit more opportunities toremove the items in the junction between adjacent conveyor devices,while allowing the series of conveyor devices to be placed on the sameplane. In various embodiments, items that are not removed from a streamof items by a first sorting device (e.g., that is part of a firstmodular sorting unit) are recirculated such that the items can besubjected to a sensor and potentially caused to be removed from thestream by a second sorting device (e.g., that is part of a secondmodular sorting unit) that is of the same sorting device type as thefirst sorting device. The recirculation of the same stream or set ofitems will enable a greater proportion of items that are desirable to beremoved (e.g., due to their corresponding economic value) from thestream to be removed over multiple passes to ultimately increase therecovery rate of (e.g., valuable) items from the stream. Examples ofmaterials to be sorted by a sorting line as described in variousembodiments described herein include but are not limited to recycling,garbage, e-waste, demolition waste, packages, luggage, components on anassembly line, and produce.

FIG. 1 is a diagram showing an example of a modular sorting unit.Modular sorting unit 100 includes conveyor device 102, objectrecognition device 104 (which is connected to a sorting control device,which is not shown in FIG. 1 ), and sorting device 106. In someembodiments, object recognition device 104 is connected to a sortingcontrol device either using a wired connection or a wireless connection.As shown in FIG. 1 , conveyor device 102 transports a stream of items(such as items 108, 110, and 112) that are deposited onto it towardsobject recognition device 104 and sorting device 106. Object recognitiondevice 104 may comprise an image capturing device (such as, for example,an infrared camera, visual spectrum camera, volumetric sensing, or somecombination thereof) directed at conveyor device 102. For illustrativepurposes, object recognition device 104 is assumed to be an imagecapturing device in various examples described herein. The sensed data(e.g., one or more images) of items is then input into the sortingcontrol device, where the sorting control device is configured toidentify zero or more target items within the image(s) captured by theobject recognition device. In various embodiments, a “target” item thatis to be identified by a particular sorting control device is an itemthat the particular sorting control device is configured to target forremoval by a corresponding sorting device. As will be described invarious examples herein, a target item is deposited into a correspondingcollection container. In a first example, a target item can be aparticular type of item that is made of a recyclable material andtherefore has monetary value. In another example, a target item is aknown type of contaminant that is desired to be isolated from otheritems of value. In some embodiments, the one or more target items areidentified from the image(s) by the sorting control device using atrained machine learning model and/or other artificial intelligence thatis configured to identify target items within the image(s). The sortingcontrol device associated with object recognition device 104 thatcorresponds to sorting device 106 is configured to send messages tosorting device 106 to indicate when target items that are beingtransported across conveyor device 102 should be removed from the streamof materials by sorting device 106. As shown in the example of FIG. 1 ,in response to the instruction from the sorting control device, sortingdevice 106, which is located at the end of conveyor device 102, isconfigured to perform a sorting action that comprisesdeflecting/shooting target items after they fall off of conveyor device102 into corresponding collection containers (such as collectioncontainer 114) or target conveyor device(s) (not shown). For example, ifsorting device 106 comprises an array of air orifices, the sortingcontrol device that is coupled to object recognition device 104corresponding to sorting device 106 is configured to indicate to sortingdevice 106 at what time sorting device 106 should fire at least some ofits air orifices, which should hit a target item within the stream ofmaterials as the materials fall off of conveyor device 102. Those items(e.g., non-target items) that are not fired on by sorting device 106 mayland on another conveyor device, for example. In the exampleconfiguration of FIG. 1 , sorting device 106 sits at ground-levelbetween conveyor device 102 and the next conveyor device (in the samesorting line), and sorting device 106 shoots air at and thereforedeflects target items up into collection container 114.

Referring to FIG. 1 , item 112 has just fallen off of conveyor device102 and if sorting device 106 had been instructed by the sorting controldevice associated with object recognition device 104 to remove item 112from the stream (e.g., because item 112 is a target item), then sortingdevice 106 would perform a sorting action that comprises shooting air orusing a mechanical sorting mechanism to modify the ballistic trajectoryof item 112 and cause it to be deposited into a corresponding collectioncontainer or a target conveyor. Otherwise, if sorting device 106 had notbeen instructed by the sorting control device associated with objectrecognition device 104 to remove item 112 from the stream (e.g., becauseitem 112 is a non-target item), then sorting device 106 would notinteract with item 112 (using air or a mechanical mechanism) andinstead, allow item 112 to land onto a subsequent conveyor device (e.g.,associated with an adjacent modular sorting unit).

While in the example of FIG. 1 , sorting device 106 is shown to be atthe end of conveyor device 102 and is configured to remove target itemsfrom the stream after the items fall off from conveyor device 102, inother examples, sorting device 106 may be situated to the side ofconveyor device 102 and/or over conveyor device 102 so as to removetarget items off of the conveyor belt of conveyor device 102. Forexample, to remove target items off of the conveyor belt of conveyordevice 102, sorting device 106 may use suction gripping, vacuum, roboticarms, diverters, positive pressure airflows, gate or door mechanisms,rotating friction wheels, magnetic couplers, and/or a pushing mechanism.Sorting device 106 of modular sorting unit 100 is not limited to aparticular sorting mechanism.

While not shown in FIG. 1 , conveyor device 102 can be configured to beangled within a predetermined range of angles such that the transporteditems placed on conveyor device 102 will move further away from plane116 as the items move along the conveyor belt of conveyor device 102. Aswill be described in further detail below, one reason to set theconveyor device at an angle (as opposed to being parallel to the surface(e.g., plane 116) on which the conveyor device is placed) is to increasethe height (relative to the surface) and distance at which itemsdrop/fall off the conveyor device and therefore provide more time inwhich the items can be removed from the stream of materials by a sortingdevice before the items fall onto a subsequent conveyor device.

A modular sorting unit such as modular sorting unit 100 can be producedin a cost-efficient manner at scale. Furthermore, modular sorting unitswithin a material recovery facility can be interchangeable, whichimproves consistency and greater throughput at the facility.

As will be described in further detail below, a sorting line within amaterial recovery facility may be constructed using a series of one ormore modular sorting units such as modular sorting unit 100 of FIG. 1 .Moreover, multiple, parallel sorting lines within a material recoveryfacility can be implemented using modular sorting units such as modularsorting unit 100 to improve throughput at the facility throughparallelization. Also, as will be described in further detail below,recirculation of a stream of items through two or more sorting devices(e.g., associated with two modular sorting units) of the same type(including the scenario of recirculating the stream of items through thesame sorting device more than once), such that the same stream of itemsis subjected to multiple rounds of sorting, enables a greater chancethat more valuable target items will be recovered from the stream overthe multiple passes. For example, a valuable target item that is notrecovered (e.g., removed from the stream) by a first sorting device canbe recovered (e.g., removed from the stream) by a second sorting device.

A first benefit of a modular sorting unit such as modular sorting unit100 is that it can easily be swapped out for another instance of thesame modular sorting unit in the event that a first instance of themodular sorting unit needs to be repaired or updated. A second benefitof a modular sorting unit such as modular sorting unit 100 is that itcan be flexibly added to or removed from a sorting line to respectivelyincrease or decrease sorting capacity, as needed.

FIG. 2A is a diagram showing an example of a sorting control device. Insome embodiments, a sorting control device that is described to beconnected to object recognition device 104 of FIG. 1 may be implementedusing sorting control device 200 of FIG. 2A. In the example of FIG. 2A,sorting control device 200 includes neural processing logic 202, sortinglogic 204, and dynamic reconfiguration logic 206. Each of neuralprocessing logic 202, sorting logic 204, and dynamic reconfigurationlogic 206 may either be implemented together on a common physicalnon-transient memory device, or on separate physical non-transientmemory devices. In various embodiments, each of neural processing logic202, sorting logic 204, and dynamic reconfiguration logic 206 may beimplemented using one or more processors coupled to one or more memoriesthat are programmed to execute code to carry out the functions ofcorresponding neural processing logic 202, sorting logic 204, anddynamic reconfiguration logic 206 described herein. In otherembodiments, each of neural processing logic 202, sorting logic 204, anddynamic reconfiguration logic 206 may additionally, or alternately, beimplemented using an application specific integrated circuit (ASIC) orfield programmable gate array (FPGA) that has been adapted for machinelearning.

Neural processing logic 202 is configured to receive raw sensed data(which in the case of a camera sensor may comprise image frames, forexample) from an object recognition device. Neural processing logic 202is configured to provide the received sensed data as input to one ormore neural network and artificial intelligence techniques to locate andidentify items appearing within the image frames that are potentiallytarget items. As the term is used herein, an “image frame” is intendedto refer to a collection or collected set of sensed data captured by anobject recognition device that may be used to capture the spatialcontext of one or more potential items on a conveyor device along withcharacteristics about the items. A feed of image frames captured by anobject recognition device is fed, for example, to a machine learninginference technique. The sequence of captured image frames may beprocessed by multiple processing layers, or neurons, to evaluate thecorrelation of specific features with features of items that it haspreviously learned. Alternative techniques to detect items within animage include Fully Convolutional Neural Network, Multibox, Region-basedFully Convolutional Networks (R-FCN), Faster R-CNN, and other techniquessuch as object detection, instance-aware segmentation, or semanticsegmentation techniques.

Among the recognized items, neural processing logic 202 is configured todiscriminate between target and non-target items based on areconfigurable set of target item criteria. For example, the set oftarget item criteria can describe which types of items are considered tobe “target items” (e.g., and therefore should be removed from the streamof items), while items that do not match the set of target item criteriaare considered to be “non-target items” (e.g., and therefore should notbe removed from the stream of items). For example, the set of targetitem criteria may describe a set of attribute information (e.g., targetmaterial type, and/or other target item shape/dimensions/color) forwhich a matching item is considered to be a “target item.” For example,a matching item can be a single object (e.g., an aluminum can) or acluster of objects (e.g., a cluster of grapes or a cluster of greenbeans). In various embodiments, the set of target item criteria that isconfigured for a particular sorting control device may be specificallyconfigured for that particular sorting control device (associated with afirst modular sorting unit) and may differ from the set of target itemcriteria that is configured for a different sorting control device(associated with a second, different modular sorting unit). Put anotherway, different sorting control devices may consider different types ofitems to be target items depending on their respective sets of targetitem criteria. In various embodiments, a sorting control device's set oftarget item criteria may be reconfigured/updated/modified to cause thesorting control device to identify different items to be “target items”over time. As will be described in further detail below, in response todetected events, tunable parameters associated with the materialrecovery facility, including a sorting control device's set of targetitem criteria, can be reconfigured (e.g., based on an instructionreceived from dynamic reconfiguration logic 206).

Based on the input sensed data (e.g., image frames) that is provided byan item recognition device, neural processing logic 202 is configured todetermine information related to target items and non-target items thatare being transported by the conveyor device. In some embodiments, theinformation related to target items that are determined by neuralprocessing logic 202 includes attribute information. For example,attribute information includes one or more of, but not limited to, thefollowing: a material type associated with each item, an approximatemass associated with each item, an associated geometry associated witheach item, dimensions (e.g., height and width/area) associated with eachitem, a designated deposit (e.g., collection container) locationassociated with each item, and an orientation associated with each item.In some embodiments, the information related to items that aredetermined by neural processing logic 202 includes location information.For example, location information includes one or more coordinates atwhich each item was located in the image frame(s) that were input intoneural processing logic 202. In a specific example, the locationinformation of each item is the coordinate of the centroid of the item.Neural processing logic 202 is configured to send the attributeinformation and location information of target items and non-targetitems to sorting logic 204.

Sorting logic 204 is configured to determine which target items toinstruct to a sorting device to remove from a stream of items based onthe information (e.g., attribute information and location information)associated with target items and non-target items that it receives fromneural processing logic 202. In some embodiments, sorting logic 204 isconfigured to determine, for each target item, whether the removal ofthat target item from the stream of items should be suppressed (e.g.,avoided) using a reconfigurable set of suppression criteria. Certainsorting mechanics of removing a target item from a stream includephysically deflecting (e.g., using a vacuum, a positive airflow, or aphysical mechanism) the target item into a collection container.However, it is possible that the physical deflection aimed at the targetitem could inadvertently also deflect a non-target item into thecollection container intended for the target item. The result ofinadvertently deflecting a non-target item into the collection containeris that the purity level of items collected in one or more collectioncontainer(s) would decrease, which is undesirable. For example, the“purity level” corresponding to items deposited into one or morecollection containers can be defined as either 1) the total number ofcollected target items over the total number of all items collected atthe collection container(s) or 2) the total weight of collected targetitems over the total weight of all items collected at the collectioncontainer(s). Typically, the greater the purity level of items collectedat the collection container(s), the greater the (e.g., economic) valuethat is associated with the collected items. As such, it is undesirableto allow neighboring non-target items to be inadvertently deposited intoa collection container when a sorting device fires on a target itembecause doing so will lower the purity level associated with the itemscollected at the collection container. For example, the set ofsuppression criteria describes the conditions for when a sorting deviceshould not fire on a target item (to reduce the risk that the non-targetitem also inadvertently becomes deposited into a collection container).In a specific example, the set of suppression criteria may describe thatif a non-target item is located within a predetermined distance from atarget item and that the size of the non-target item is greater than apredetermined size, then the sorting device should not be instructed toremove the target item (to reduce the risk that the non-target itembecomes deposited into a collection container) (i.e., the removal ofthat target item should be suppressed). In some embodiments, sortinglogic 204 is configured to determine which target items should beremoved and which should not be removed by a sorting device using theset of suppression criteria. In some embodiments, sorting logic 204 isconfigured to store data to indicate the target items for which removal(e.g., via the performance of a sorting action) was determined bysorting logic 204 to not be performed by the sorting device.

For the target items that sorting logic 204 determines should be removedfrom the stream of materials, in some embodiments, sorting logic 204 isconfigured to determine the manner in which those target items are to beremoved using a reconfigurable set of removal parameters. For example,the set of removal parameters describes, but is not limited to, one ormore of the following: which collection containers to deposit targetitems of different material types and how much force/pressure to use toremove the target items from the stream and into correspondingcollection containers. Sorting logic 204 is configured to send controlsignals to at least one corresponding sorting device to instruct that atleast one sorting device which/when/how to perform sorting actions toremove target items from the stream of materials. As will be describedin further detail below, in response to detected events, tunableparameters associated with the material recovery facility, including aset of suppression criteria and a set of removal parameters, can bereconfigured (e.g., based on an instruction received from dynamicreconfiguration logic 206).

Dynamic reconfiguration logic 206 is configured to dynamicallyreconfigure tunable parameters with respect to the material recoveryfacility in response to detected events. In various embodiments, variousparameters with respect to at least a portion of the material recoveryfacility, including, for example, one or more modular sorting units, aninterference removal mechanism, an item adhesion mechanism, and arecirculation configuration associated with one or more sorting lines,can be updated and modified to respond to/accommodate detected eventsassociated with the material recovery facility. Specific examples oftunable parameters that can be reconfigured in response to a detectedevent include, but are not limited to: a set of target item criteriaassociated with a modular sorting unit, a set of suppression criteriaassociated with a modular sorting unit, a set of removal parametersassociated with a modular sorting unit, a speed of a conveyor belt of aconveyor device, an angle at which a conveyor device (of a modularsorting unit) is set, whether and/or how to activate an interferenceremoval mechanism along a sorting line within the material recoveryfacility, whether and/or how to adjust an adhesion mechanism that causesitems to better adhere to the conveyor devices, the locations ofcollection containers corresponding to different target items, whetherand/or how to reconfigure the recirculation of the stream of materialsthrough the material recovery facility, and/or the force of vacuum orother airflow-based techniques for removing a target item from thestream of materials.

A first example of a detected event is a detected recovery levelassociated with a target material type. For example, a “recovery level”associated with a target material type can be determined as either 1)the total number of collected items of the target material type over thetotal number of items of all materials types collected at the collectioncontainer(s) or 2) the total weight of collected target items of thetarget material type over the total weight of items of all materialstypes collected at the collection container(s). For example, if therecovery level of a certain target material type falls below a desiredthreshold, then dynamic reconfiguration logic 206 can dynamicallyreconfigure the set of target item criteria corresponding to one or moremodular sorting units that previously did not target that particulartarget material type to additionally target the particular targetmaterial type (in an effort to increase that material type's recoverylevel). A second example of a detected event is a sensed clog/jam withina sorting line (e.g., a bottleneck of items that is preventing thestream of materials from moving smoothly through a sorting line). Forexample, one or more sensors placed along different conveyor deviceswithin a sorting line can detect whether a clog/jam has occurred and inresponse, dynamic reconfiguration logic 206 can activate an interferenceremoval device within the sorting line and/or change the speed of theconveyor devices within the sorting line in an effort to remove theclog/jam. A third example of a detected event is a determination thatitems are moving relative to the conveyor belts (based on sensors thatdetect movements of the items) of the conveyor devices (which isundesirable because such movement would cause the determined locationsof the items on the conveyor devices to be less accurate). In responseto the detected movement of items relative to the conveyor belts,dynamic reconfiguration logic 206 can be configured to activate anadhesion mechanism (e.g., such as air lamination and/or electricadhesion) in the material recovery facility to cause the items to remainmore static/adhere better to the conveyor devices. The example detectedevents described above are merely examples and in practice, any type ofdetected event can trigger dynamic reconfiguration logic 206 toreconfigure any parameter associated with its own modular sorting unit,send an instruction to another modular sorting unit to trigger areconfiguration of a parameter associated with the other modular sortingunit, and/or send an instruction to another entity within the materialrecovery facility to trigger a reconfiguration of a parameter associatedwith the facility. Other examples of detected events that could triggerdynamic reconfiguration of tunable parameters include: a user input, anindication received from a third-party server, and a detected puritylevel associated with a target material type.

In some embodiments, dynamic reconfiguration logic 206 is configured toprogrammatically reconfigure the tunable parameters of the materialrecovery facility in response to detected events based on a set ofreconfiguration rules that describe how specific parameters should bereconfigured in response to specific events. For example, thereconfiguration rules may be generated based at least in part onhistorical testing (e.g., empirical testing or A/B testing) of differentcombinations of parameters (e.g., different physical parameters such asdifferent speeds of conveyor devices, different angles of conveyordevices, and/or different force that is used by sorting devices) thatlead to more desirable sorting results. In some embodiments, dynamicreconfiguration logic 206 is configured to programmatically reconfigurethe tunable parameters of the material recovery facility in response todetected events based on artificial intelligence (e.g., such as atrained machine learning model that receives a detected event as aninput and then outputs updated tunable parameter values to optimize thesorting results of the material recovery facility).

In some embodiments, sorting control device 200 of FIG. 2A may beconnected to one or more object recognition devices and/or be configuredto send instructions (e.g., control signals) to one or more sortingdevices. For example, sorting control device 200 of FIG. 2A is connectedto one or more object recognition devices (e.g., across correspondingone or more modular sorting units) associated with a single sorting lineso that sorting control device 200 is able to be informed by a holisticview of a stream of items as it travels through the entire sorting line.Furthermore, in that same example, sorting control device 200 isconfigured to send instructions (e.g., control signals) to one or moresorting devices (e.g., across corresponding one or more modular sortingunits) based on the sensed data that sorting control device 200 receivesfrom the one or more object recognition devices. In that example wheresorting control device 200 is connected to potentially multiple objectrecognition devices and can send instructions to potentially multiplesorting devices within a sorting line, sorting control device 200 cansend determinations that it makes with respect to items sensed in oneportion of a sorting line to a sorting device that is located laterwithin the sorting line. For example, sorting control device 200 candetermine that a target item is of a material that is to be discarded(e.g., an item of trash that should not be deflected into a collectioncontainer) based on sensed data received from an object recognitiondevice located at one point in a sorting line and can send instructionsto a sorting device that is located later in the sorting line and thatis configured to target items of trash to cause that sorting device toremove the item of trash when that item can be targeted by thatparticular sorting device. In another example, sorting control device200 can determine that performing a sorting action on a target item isto be suppressed by a first sorting device but can instruct a secondsorting device to target that particular item when that item can betargeted by the second sorting device. In another example, a sortingcontrol device such as sorting control device 200 is configured tocommunicate to another sorting control device within a single sortingline with a determination that it has made with respect to a particularitem (e.g., whether that item should be targeted by a sorting deviceassociated with the recipient sorting control device).

FIG. 2B is a diagram showing an example of a sorting device. In someembodiments, sorting device 106 of FIG. 1 may be implemented using theexample sorting device of FIG. 2B. In the example of FIG. 2B, theexample sorting device includes local controller 250 and sortingmechanism(s) 252. In various embodiments, local controller 250 may beimplemented using one or more processors or a microcontroller. Sortingmechanism(s) 252 may be implemented using one or more types ofmechanisms that can be used to perform a sorting action on a target itemto remove the target item out of a stream of items. In a first example,sorting mechanism(s) 252 comprise one or more arrays of air orificesthat are connected to one or more sources of pressurized air and assuch, sorting mechanism(s) 252 perform a sorting action by shooting airtowards a target item to deflect the target item into a collectioncontainer. In a second example, sorting mechanism(s) 252 comprise asuction cup that is actuated by a robot system and as such, sortingmechanism(s) 252 perform a sorting action by dropping down onto a targetitem and picking it off a conveyor device and then dropping the iteminto a collection container. In a third example, sorting mechanism(s)252 comprise one or more air vents that are connected to a vacuum sourceand as such, sorting mechanism(s) 252 perform a sorting action byvacuuming a target item off a conveyor device and through a tube at theend of which the target item will drop into a collection container. In afourth example, sorting mechanism(s) 252 comprise one or more actuatedpushing mechanisms and as such, sorting mechanism(s) 252 perform asorting action by physically contacting (striking) the target item tocause the target item to be deposited into a collection container.

Local controller 250 is configured to receive control signals from aninternal processor or from an external/remote processor (e.g.,associated with one or more sorting control devices or a cloud server)and to interpret the received control signals to cause sortingmechanism(s) 252 to perform the instructed sorting actions on theappropriate target items. For example, local controller 250 candetermine when to cause sorting mechanism(s) 252 to fire, which subsetof sorting mechanism(s) 252 to fire, with what force sortingmechanism(s) 252 should fire with, and/or for how long sortingmechanism(s) 252 should fire continuously or intermittently. In thespecific example in which sorting mechanism(s) 252 comprise an array ofair orifices that are connected to pressured air sources, localcontroller 250 is configured to cause at least a subset of the airorifices of the array to shoot air at a particular time so that theairflow can deflect a target item into a collection container (e.g.,just after that target item falls off a conveyor device).

FIG. 3 is a diagram showing an example of a series of angled conveyordevices in a sorting line within a material recovery facility. In theexample of FIG. 3 , conveyor devices 302 a and 302 b are placed oneafter another within a sorting line within a material recovery facility.Above conveyor devices 302 a and 302 b are respective object recognitiondevices 304 a and 304 b, which capture sensed data associated with itemsthat are transported across the respective conveyor devices. Inparticular, object recognition device 304 a is configured to capturesensed data with respect to items that are transported across conveyordevice 302 a and object recognition device 304 a is also configured tosend the sensed data to a corresponding sorting control device (notshown). The sorting control device (which may be implemented using theexample sorting control device of FIG. 2A) is configured to determinewhich items that are transported by conveyor device 302 a are targetitems and then instruct sorting device 308 (which may be implementedusing the example sorting device of FIG. 2B) to remove those targetitems out of the stream of materials after the target item(s) havefallen off of conveyor device 302 a. Put another way, sorting device 308is instructed to remove target items that fall off of conveyor device302 a in the junction or gap in between conveyor device 302 a andconveyor device 302 b. For example, sorting device 308 may remove targetitems in the junction or gap in between conveyor device 302 a andconveyor device 302 b by shooting air at the target items and causingthe target items to be deflected into a corresponding collectioncontainer, collection container 306. For example, conveyor device 302 a,object recognition device 304 a and a corresponding sorting controldevice, and sorting device 308 may be considered one modular sortingunit (such as modular sorting unit 100 of FIG. 1 ).

Conventionally, each conveyor device in a series of conveyor devices ina material recovery facility is each set parallel/flat relative to theplane on which it is set but consecutive conveyor devices are placed ondifferent planes (e.g., different levels/floors) of a building so as tocreate a large height differential in between consecutive conveyordevices such that items could be removed from the stream during the fallbetween the conveyor devices. In contrast, as shown in FIG. 3 ,consecutive conveyor devices 302 a and 302 b are each placed at anangle, α, and also placed on the same plane, plane 310. Due to the angle(α) of each of conveyor devices 302 a and 302 b, items that land nearone end of the conveyor devices are transported upwards away from plane310 as they move across the conveyor devices such that the items falloff from the other end of the conveyor devices at a greater height thanthe height at which they had landed on the conveyor devices. The resultof setting conveyor devices 302 a and 302 b at angle α is that the anglecauses a height differential to be created between the end of conveyordevice 302 a from which items fall and the end of conveyor device 302 bat which the fallen items land, but allows conveyor devices 302 a and302 b (as well other conveyor devices within the same sorting line) toremain on the same plane (e.g., floor, surface, level). For example,angle α can be set to be a degree within the range of 5 to 15 degrees.In some embodiments, the lower ends of each consecutive conveyor devicein a series of conveyor devices can but does not need to be exactly thesame height. In some embodiments, consecutive conveyor devices in aseries of conveyor devices can but does not need to be set at exactlythe same angle. Put another way, using a series of angled conveyordevices to transport items to be sorted will create height differentialsbetween consecutive conveyor devices and therefore opportunities to sorttarget items (by removing the target items out of the material streamduring the junction between consecutive conveyor devices) but allow theconveyor devices to remain on the same plane. Setting consecutivedevices of a sorting line on the same plane is both more space efficientand cost efficient than the conventional technique of placingconsecutive conveyor devices across different planes. Moreover, not onlydoes the height differential between consecutive, angled conveyordevices create opportunity to divert target items into collectioncontainers, it also helps to reduce jams that could otherwise be causedby a short gap between flat conveyor devices. Furthermore, anglingconsecutive conveyor devices also creates more space, for example, underthe raised ends of the conveyor devices to place collection containersand/or equipment, such as shown in the example of FIG. 4 , below.

FIG. 4 is a diagram showing two example conveyor devices and two sortingdevices that are located at the junction between the two conveyordevices. In the example of FIG. 4 , items are transported along conveyordevice 408 a towards sorting devices 406 a and 406 b (e.g., each ofwhich can be implemented using the example sorting device of FIG. 2B).As the items are traveling across conveyor device 408 a, objectrecognition device 402 is configured to capture one or more images ofthe items and a corresponding sorting control device (e.g., which can beimplemented using the example sorting control device of FIG. 2A) isconfigured to identify target items and also (e.g., nearby) non-targetitems based on the captured image(s). The sorting control device isconfigured to send the determined target item and non-target iteminformation to sorting devices 406 a and 406 b. Sorting devices 406 aand 406 b are then configured to fire on the target items as the targetitems are in the air in between conveyor device 408 a and conveyordevice 408 b. As shown in the example, sorting devices 406 a and 406 bare each configured to shoot in two directions, where each direction isassociated with a particular material type or grouping of materials(e.g., a blend of 40% of Material Type A and 60% of Material Type B).The fired-on target items are then deflected into their respectivecollection containers 410 a, 410 b, 410 c, and 410 d, where eachcollection container is configured to store target items of a differenttype of material. Note that collection containers 410 c and 410 d areefficiently placed, at least in part, below the raised end of conveyordevice 408 a.

FIG. 5 is a diagram showing a series of sorting units in a sorting lineof a material recovery facility and where the conveyor devices arelocated on the same plane. Sorting line 500 includes a series of sortingunits on a plane, where each sorting unit may include an angled conveyordevice (e.g., such as conveyor device 102 of FIG. 1 , conveyor devices302 a and 302 b of FIG. 3 , or conveyor devices 408 a and 408 b of FIG.4 ) with a respective sorting device at the junction/gap betweenconsecutive conveyor devices. Due to the series of conveyor devicesbeing placed on the same plane, the series of conveyor devices can evenbe placed on top of large collection containers such as 502 in anexample configuration.

FIG. 6 is a diagram showing an embodiment of an efficient materialrecovery facility with a single sorting line. In the example shown inFIG. 6 , the material recovery facility includes a bird's eye view ofone sorting line that includes a series of conveyor devices, where eachconveyor device is adjacent to a sorting device. Specifically, theexample material recovery facility in FIG. 6 includes a sorting linethat includes nine conveyor devices (which are associated with referencenumbers 604 a through 604 i in FIG. 6 ), each of which is followed by acorresponding sorting device (which are associated with referencenumbers 606 a through 606 i in the FIG. 6 ). However, in actualpractice, a sorting line can have any number of conveyor devices andcorresponding sorting devices. Furthermore, in actual practice, asorting device may be placed over a conveyor device, next to a conveyordevice, or at the end of a conveyor device.

Examples of materials to be sorted by a sorting line as described invarious embodiments described herein include but are not limited torecycling, garbage, e-waste, demolition waste, packages, luggage,components on an assembly line, and produce. Materials to be sorted bythe sorting line of FIG. 6 are transported (e.g., via a conveyor belt)onto the first conveyor device, conveyor device 604 a from location 602.As shown in the example of FIG. 6 , prior to being placed onto conveyordevice 604 a, the materials may be preprocessed (e.g., such as by beingbroken down by a bale breaker), presorted, with iron-based materialsseparated by ferrous separation, and finer items screened. The materialsremaining from the preprocessing are transported (e.g., via a conveyorbelt) in a stream onto one end of conveyor device 604 a. The materialsare then transported across conveyor device 604 a by a conveyor belt andpropelled off the other end of conveyor device 604 a. As the materialsare transported across conveyor device 604 a, an object recognitiondevice (not shown in FIG. 6 ) is configured to generate one or moreimages of the materials in the conveyor belt. In various embodiments,the object recognition device is coupled to and/or includes a sortingcontrol device that is configured to identify zero or more target items(i.e., items of a target material type) within the image(s) captured bythe object recognition device. As described above, for example, “targetitems” have value and are desired to be collected, which is known as a“positive sort.” For example, target items can be a particular type ofitem that is made of a recyclable material. In another example, “targetitems” may also be viewed as undesirable materials to sort out of thestream known as “negative sort.” In some embodiments, the one or moretarget items are identified by the sorting control device using atrained machine learning model and/or other artificial intelligence thatis configured to identify target items within the image(s). The sortingcontrol device associated with the object recognition device thatcorresponds to sorting device 606 a is configured to send messages tosorting device 606 a to indicate when target items that are beingtransported across conveyor device 604 a should be sorted (e.g., firedon) by sorting device 606 a and therefore removed from the stream ofmaterials. For example, if sorting device 606 a comprises an array ofair orifices, the sorting control device that is coupled to the objectrecognition device corresponding to sorting device 606 a is configuredto indicate to sorting device 606 a at what time sorting device 606 ashould fire at least some of its air orifices, which should hit a targetitem within the stream of materials as the materials fall off ofconveyor device 604 a and onto the next conveyor device in the series,conveyor device 604 b. In the example in FIG. 6 , sorting device 606 ais located at the junction/gap between conveyor device 604 a andconveyor device 604 b and is configured to remove the target item(s)that have been identified by the corresponding object recognition devicefrom the stream of materials that falls off (due to the high speed ofthe conveyor belt of conveyor device 604 a) from conveyor device 604 a.By way of example, sorting device 606 a can remove target item(s) fromthe stream of materials that falls off of conveyor device 604 a byshooting air at the target items such that the target items areshot/deflected onto target conveyor 608 a. For example, sorting device606 a may be an array or a plane of air orifices and a specified subsetof the air orifices will fire on a target item for a specified length oftime as the target item falls from conveyor device 604 a en route toconveyor device 604 b. Target conveyor 608 a is configured to thentransport the target items into a corresponding bunker of sortedmaterials, collection container 612 a. Because the target items of thematerials stream that fall off from conveyor device 604 a areintercepted by sorting device 606 a before they can reach conveyordevice 604 b, only the items that are not intercepted by sorting device606 a land on conveyor device 604 b.

In another example (not shown in FIG. 6 ), alternative to being locatedat the end of a conveyor device or in the gap between two conveyordevices, a sorting device (such as one or more of sorting devices 606 a,606 b, 606 c, 606 d, 606 e, 606 f, 606 g, 606 h, and 606 i) may belocated over/above some portion of a conveyor device (such as one ormore of conveyor devices 604 a, 604 b, 604 c, 604 d, 604 e, 604 f, 604g, 604 h, and 604 i). In some embodiments, where a sorting device islocated over/above a conveyor device, the sorting device may beconfigured to suction target items as they are being transported acrossthe conveyor device. In a first example, where the sorting devicecomprises an array of vacuum tubes positioned over the conveyor device,the suctioned target item is then passed through an outlet of a vacuumtube and onto a target conveyor or into a collection container. In asecond example, where the sorting devices comprise a robotic arm thatactuates a suction gripper, the suctioned target item can be dropped bythe robotic arm onto a target conveyor or into a collection container.

In yet another example (not shown in FIG. 6 ), alternative to beinglocated at the end of a conveyor device or in the gap between twoconveyor devices, a sorting device (such as one or more of sortingdevices 606 a, 606 b, 606 c, 606 d, 606 e, 606 f, 606 g, 606 h, and 606i) may be located on the side of or next to some portion of a conveyordevice (such as one or more of conveyor devices 604 a, 604 b, 604 c, 604d, 604 e, 604 f, 604 g, 604 h, and 604 i). In some embodiments, where asorting device is located on the side of or next to a conveyor device,the sorting device may be configured to push target items as they arebeing transported across the conveyor device. The target item can thenbe pushed onto a target conveyor or into a collection mechanism.

The conveyor belt of conveyor device 604 b will then transport theremaining materials that land on it towards conveyor device 604 c.Similar to what had occurred on conveyor device 604 a, the materials onconveyor device 604 b are scanned by an object recognition device (notshown in FIG. 6 ), which is coupled to a corresponding sorting controldevice that identifies target items within the materials and instructssorting device 606 b to remove those target items from the stream ofmaterials that fall from conveyor device 604 b and onto conveyor device604 c. Similar to sorting device 606 a, sorting device 606 b isconfigured to remove the target items identified by its correspondingsorting control device in the junction/gap between conveyor device 604 band conveyor device 604 c. The target items that are removed by sortingdevice 606 b en route from conveyor device 604 b to conveyor device 604c are deposited onto target conveyor 608 b, which is configured totransport the target items into collection container 612 b.

The remaining materials that land on conveyor device 604 c will beserially processed through the remaining conveyor devices 604 c, 604 d,604 e, 604 f, 604 g, 604 h, and 604 i, which are interleaved betweensorting devices 606 c, 606 d, 606 e, 606 f, 606 g, 606 h, and 606 i ofthe sorting line of FIG. 6 , similarly as to how they were processed byconveyor device 604 a and 604 b and by interleaved sorting devices 606 aand 606 b. By removing at least some target items from the originalset/stream of materials at each junction between adjacent conveyordevices using the corresponding interleaved sorting device, the same setof materials will be serially processed by (recirculated through)multiple instances of sorting devices across one sorting line. Theresult is that target items that are missed by (passed on or otherwisenot recovered by) one sorting device may be targeted by another sortingdevice. By examining the same set of materials more than once by one ormore sorting devices, the recovery of target items from the set ofmaterials improves significantly while the purity among the recovereditems is maintained. The recovered items that are deposited by targetconveyors into collection containers (e.g., such as collection container612 a) can be bundled together for purchasers of such materials (e.g.,parties that recycle materials).

In some embodiments, the example sorting line shown in FIG. 6 can beimplemented using a series of modular sorting units (e.g., such asmodular sorting unit 100 of FIG. 1 ), where each modular sorting unitincludes a conveyor device, an object recognition device connected to asorting control device, and a sorting device.

In some embodiments, each of sorting devices 606 a, 606 b, 606 c, 606 d,606 e, 606 f, 606 g, 606 h, and 606 i of the example sorting line ofFIG. 6 is of the same type of sorting device. In some embodiments,sorting devices 606 a, 606 b, 606 c, 606 d, 606 e, 606 f, 606 g, 606 h,and 606 i of the example sorting line of FIG. 6 include two or moretypes of sorting devices. For example, different types of sortingdevices may remove a target item from a stream of materials at ajunction between adjacent conveyor devices or positioned above/over theconveyor devices using a different mechanism. Some examples of suchmechanisms that can be used by sorting devices to remove target itemsfrom a stream of materials include shooting with air, suctioning,pushing, and grabbing. As mentioned before, one specific type of sortingdevice comprises an array or a plane of air orifices of which a subsetof air orifices is triggered to shoot air on target items to remove themfrom the stream of materials that are falling off of one conveyor deviceand onto another.

In some embodiments, each of sorting devices 606 a, 606 b, 606 c, 606 d,606 e, 606 f, 606 g, 606 h, and 606 i of the example sorting line ofFIG. 6 can be dynamically reconfigured to perform sorting according to aset of tunable parameters. For example, the set of tunable parametersthat can be dynamically tuned for a sorting device includes a specifiedone or more types of materials to select (e.g., according to a set oftarget item criteria), a specified threshold for target itemidentification, and a threshold for suppression (e.g., when not to acton removing a target item due to a detected contaminant being nearby)(e.g., according to a set of suppression criteria). The set ofparameters that a sorting device uses to perform sorting can bereconfigured manually or automatically, in real-time, in response to adetected event. For example, the detected event may be the recovery rateor the purity rate of the recovered materials being less than apredetermined threshold. Different sorting devices within the samesorting line may each be configured with different parameters, forexample. In a specific example, sorting devices 606 a, 606 b, 606 c, 606d, 606 e, and 606 f are initially configured to select Material Type Aand sorting devices 606 g, 606 h, and 606 i are initially configured toselect Material Type B. However, after determining that the recoveryrate of Material Type B is desired to be increased, sorting devices 606a, 606 b, 606 c, 606 d, 606 e, and 606 f can be reconfigured to alsoeach target Material Type B.

In some embodiments, multiple object recognition devices and associatedsorting control devices corresponding to sorting devices along the samesorting line can communicate with each other in a holistic and networkedmanner to improve the recipient sorting devices' sorting ability. Forexample, a sorting control device that is associated with an objectrecognition device that corresponds to a sorting device that processesmaterials earlier in the sorting line can determine that a target itemwas not removed from the stream of materials (e.g., because a non-targetitem had been located too close) and can send a message to anothersorting control device associated with an object recognition device thatcorresponds to a sorting device that processes materials later in thesame sorting line to indicate that the later sorting device shouldtarget a specific target item. Similarly, for example, a sorting controldevice associated with an object recognition device that corresponds toa sorting device that processes materials later in the sorting line candetermine that a target item was not removed from the stream ofmaterials (e.g., because a non-target item had been located too close)and can send a message to another sorting control device associated withan object recognition device that corresponds to a sorting device thatprocesses materials earlier in the same sorting line to indicate thatthe earlier sorting device should target a specific target item uponrecirculation of the same set of materials through the sorting line. Assuch, multiple sorting devices and their corresponding objectrecognition devices and associated sorting control devices can work inconcert to improve sorting across one or more sorting lines. Incontrast, a conventional sorting device type performs sorting inisolation of other conventional sorting devices.

In some embodiments, a sorting device, such as the last sorting devicein a sorting line (sorting device 606 i of the example sorting line ofFIG. 6 ), can be configured differently than the other sorting devicesalong the same sorting line. One reason that this last sorting devicecan be configured differently is to facilitate the selectiverecirculation of materials through the sorting line. In someembodiments, unlike the other pairs of sorting devices and theircorresponding object recognition and sorting control devices in asorting line, where each pair is configured to identify only one type ofmaterial, the last set of object recognition device, sorting controldevice, and sorting device in the sorting line is configured to identifymore than one type of material. For example, the target items that areidentified by the last sorting device are deposited onto a recirculationconveyor (as opposed to a collection container) that brings the selectedmaterials back to the first or another earlier sorting device of thesame or a different sorting line so that the items can beprocessed/recirculated through a sorting line once again. In anotherexample, the target items that are not identified as target items by thelast sorting device are fired on to prevent those items from beingdeposited onto a recirculation conveyor and the identified target itemsare not fired on and therefore end up being deposited onto therecirculation conveyor. Put another way, the last sorting device isconfigured to separate all materials that are desired to be recoveredinto a recirculation conveyor and the other materials that are notdesired to be recovered into a temporary storage (e.g., a residuestorage) so that the undesired materials will not be recirculatedthrough a sorting line. As shown in the example sorting line of FIG. 6 ,the remaining materials that were not previously targeted by any ofsorting devices 606 a, 606 b, 606 c, 606 d, 606 e, 606 f, 606 g, and 606h are transported towards sorting device 606 i. As the stream ofmaterials fall off of the last conveyor device of the sorting line(conveyor device 604 i), based on the messages that sorting device 606 ireceives from its corresponding object recognition and sorting controldevices, sorting device 606 i is, for example, configured to selecttarget items of all material types that are selected by any of thepreceding sorting devices within the sorting line and to also notsuppress selection of any target items (e.g., to increase theprobability that all candidate recoverable items are to be recirculatedthrough the sorting line, even if the selection of a target item willinadvertently cause a non-target item to also be recirculated). Theitems that are selected are transported by recirculation conveyor 610back to the beginning of the same sorting line. The items that are notselected by the last sorting device, sorting device 606 i, are deemed tobe of low value (e.g., they are non-target that should not be recovered)and will therefore be moved into a residue disposal and not berecirculated through the sorting line. While the example of FIG. 6 showsrecirculation conveyor 610 transporting the selected recirculated itemsback to be processed by the same sorting line, in other examples thatare described in further detail below, items that are selected to berecirculated from one sorting line may be recirculated through the sameor a different sorting line.

In some embodiments, the speed at which the respective conveyor beltrotates in each of conveyor devices 604 a, 604 b, 604 c, 604 d, 604 e,604 f, 604 g, 604 h, and 604 i can be dynamically reconfigured. Changingthe speed at which a conveyor belt of a conveyor device rotates wouldchange the trajectory at which items are projected/propelled/thrown offof the conveyor device, loosen up jammed items, and also affect the waythat a sorting device is configured to select items that fall off of theconveyor device. Changing the speed at which a conveyor belt of aconveyor device rotates would also cause the items to land differentlyat the destination conveyor device. For example, increasing the speed ofa conveyor belt of a conveyor device would cause the materials that areprojected from it to be more dispersed (e.g., spread farther apart fromeach other) at the destination conveyor device.

In some embodiments, each of conveyor devices 604 a, 604 b, 604 c, 604d, 604 e, 604 f, 604 g, 604 h, and 604 i is angled such that eachconveyor device lifts items from a given height and then drops them backto substantially the same height (e.g., onto one end of the nextconveyor device in the series of conveyor devices in the same sortingline), while a sorting device selects falling items at the junctionbetween two adjacent conveyor devices. As mentioned above, by anglingeach conveyor device in a sorting line, each conveyor device canproject/propel/waterfall items onto the next conveyor device on the sameplane of a building. As such, all the conveyor devices of a singlesorting line can be located on the same plane of a building, instead ofacross multiple planes that would otherwise be used to create heightdifferentials between adjacent flat conveyor devices.

In some embodiments, some conveyor devices are angled to lower items,while a sorting device selects objects moving on the lowering conveyorand raises them to a higher conveyor for transport to a bin. In theseembodiments, sorting devices may be positioned along the loweringconveyor as long as the sorting device has the capability to raise anitem to a conveyor at a higher level. In some embodiments, conveyordevices can be run in parallel at the same or slightly different levelswith gates between conveyor devices. In these embodiments, a sortingdevice positioned at a lateral gate can manipulate a target item throughthe gate (laterally to the conveyor direction of travel), causing thetarget item to switch to the new conveyor device.

In some embodiments, each of sorting devices 606 a, 606 b, 606 c, 606 d,606 e, 606 f, 606 g, 606 h, and 606 i of the example sorting line ofFIG. 6 is detachable from the sorting line. The advantage of detaching asorting device from a sorting line is that sorting devices may oftenneed updating, maintenance, repairing, or cleaning, so it isadvantageous to be able to easily remove a sorting device from a sortingline and also insert a (e.g., new, repaired, cleaned, updated) sortingdevice into the sorting line (e.g., to replace a removed sortingdevice). As will be described in further detail below, in someembodiments, a detachable sorting device can be moved (e.g., slid,rolled) on and off of guided tracks on the ground (e.g., in between twoadjacent conveyor devices in a sorting line) to ensure that the sortingdevice is always accurately positioned within a sorting line.

While not shown in the example of FIG. 6 , a sorting line may includeother components such as, for example, a shredder, a tool that separatesclusters of items, a magnet, a screen, and/or any type of sortationequipment that either modifies or leverages the physical properties ofmaterial (and potentially separates it) to make the downstreamsensing/sorting more efficient.

As mentioned above, while the example sorting line in FIG. 6 has nineconveyor devices and nine sorting devices (e.g., associated with ninecorresponding modular sorting units), in actual practice, a sorting linecan be modularly configured to include any number of conveyor devicesand corresponding sorting devices (e.g., any number of modular sortingunits) to perform serialized sorting with recirculation back through thesame or a different sorting line. A sorting line with recirculationcapabilities can be as simple as one modular sorting unit (e.g., such asmodular sorting unit 100 of FIG. 1 , which includes a single conveyordevice, a single pair of an object recognition device and a sortingcontrol device, a corresponding sorting device) and a recirculationconveyor that carries items that fall off of one end of the conveyordevice but that do not get removed from the stream and deposits thoseremaining items at the other end of the same conveyor device so that theitems can be sorted by the object recognition device and the sortingdevice over multiple passes.

Also, as will be described in further detail below, in some embodiments,multiple sorting lines can be used to process materials in parallel. Inthe multiple sorting line facility example, the sorting lines may fanout from a common material input source and/or fan back into a commonrecirculation line.

In some embodiments, the same set of materials can be recirculatedthrough a set of sorting lines until a set of stop criteria is reached.Examples of the set of stop criteria include a predetermined number ofrecirculation passes having been performed, the remaining set ofmaterials falling between a certain (e.g., weight) threshold, and apredetermined recovery rate having been met.

Based on various embodiments described herein, sets of conveyor devices,object recognition devices with corresponding sorting control devices,and sorting devices (e.g., associated with corresponding modular sortingunits) can be modularly added and removed from one or more sorting linesto accommodate different needs and spaces of a material recoveryfacility. Entire sorting lines may also be modularly added and removedfrom a material recovery facility. Furthermore, the sorting devices canbe adaptively and dynamically reconfigured in real-time to change theirsorting parameters. The recirculation mechanism can be used to improvethe number of times that the same set of materials is reviewed by objectrecognition and sorting control devices and potentially selected bysorting devices to improve recovery rate and the purity level of therecovered materials.

While not shown in FIG. 6 , in some embodiments, the material recoveryfacility can be configured to sort through a heterogeneous stream ofmaterials. In some embodiments, the “heterogenous stream of materials”refers to a mix of object types of items that are included within thesame stream. An example heterogenous stream of materials may include oneor more of the following: mixed recyclables, packages, luggage, orpartially processed waste streams. Where such a heterogeneous stream ofmaterials is processed by a sorting device of a sorting unit, thesorting device can be caused by a sorting control device to targetmultiple object types (e.g., where each object type is associated withits corresponding set of physical characteristics) and cause a targetitem to be removed from the stream and also directed to another sortingunit (or sorting line) that is configured to recover target items ofthat item's object type. Put another way, instead of a removing a targetitem from a heterogeneous stream of materials and depositing it into acollection container, in some embodiments, a sorting device of onesorting unit can change the trajectory of the target item (e.g., byshooting air at the target item) such that the target item lands on theconveyor device of another sorting unit, where the sorting device ofthis second sorting unit is configured to specifically recover targetitems of that object type. For example, a heterogenous stream ofmaterials includes an item of Object Type A, an item of Object Type B,and an item of Object Type C. The sorting device of the sorting unitthat receives these three items is configured to target items of ObjectTypes A, B, and C. The sorting device will then cause the item of ObjectType A to be deposited on the conveyor device of a sorting unit whosesorting device is configured to target (e.g., deposit into a collectioncontainer) at least items of Object Type A, cause the item of ObjectType B to be deposited on the conveyor device of a sorting unit whosesorting device is configured to target (e.g., deposit into a collectioncontainer) at least items of Object Type B, and cause the item of ObjectType C to be deposited on the conveyor device of a sorting unit whosesorting device is configured to target (e.g., deposit into a collectioncontainer) at least items of Object Type C.

FIG. 7 is a diagram showing an example of recirculating materialsthrough a single sorting line. Line 704 shows the direction of the flowof materials through a series of conveyor devices and interleavedsorting devices (sorting devices 702 a, 702 b, 702 c, and 702 d) thatform a single sorting line. The (subset of) materials that have beenselected for recirculation by the last sorting device of the sortingline, Sorting Device 702 a, are returned to the beginning of the sortingline via recirculation conveyor 706.

While the example of FIG. 7 shows that the items that are remaining atthe end of the sorting line are recirculated (via a recirculationconveyor, air ducting, or other method of conveyance) back to thebeginning of the same sorting line, in other example, the items can berecirculated (e.g., via recirculation conveyors, air ducting, or othermethod of conveyance) to a specific portion of the same sorting line orof a different sorting line. For example, if it is determined that theremaining items include more of Material Type B, then the items can berecirculated to a sorting device that is configured to target MaterialType B.

FIG. 8 is a diagram showing an example of a last sorting device in asorting line that is configured to select materials for recirculation.In some embodiments, sorting device 606 i of FIG. 6 and sorting device702 d of FIG. 7 , which are each the last sorting device in theirrespective example sorting lines, may be implemented using the examplesorting device described in FIG. 8 . As described above, in someembodiments, the last sorting device in a sorting line is configured toseparate items that are desired to be recirculated through at least onesorting line from items that are not desired to be recirculated. Asshown in the example of FIG. 8 , items are transported by conveyordevice 808 towards sorting device 802. In the example of FIG. 8 ,sorting device 802 comprises an array of air orifices (not shown).Sorting device 802 is configured to shoot air (downwards, in thisspecific example) on all items of material types that are determined tobe recovered. Due to the high speed at which the conveyor belt ofconveyor device 808 is configured to move, without intervention ofsorting device 802, all items that fall off of conveyor device 808 arepropelled along trajectory 804 and onto recirculation conveyor 810. Forexample, recirculation conveyor 810 is configured to carry the itemsback to the beginning of the same or a different sorting line so thatthe items can again be processed by the object recognition devices,sorting control devices, and sorting devices of a sorting line. However,sorting device 802 is configured to receive messages from acorresponding sorting control device that is coupled to an objectrecognition device (not shown) and to fire on the target items (e.g.,the target items in this specific example may be of any material typethat is not desired to be recovered) that have been identified by thecorresponding object recognition device. As such, sorting device 802 isconfigured to shoot air downwards at the selected items as they fall offconveyor device 808, thereby changing their trajectory from 804 totrajectory 806 and therefore causing the selected items to drop ontotemporary storage conveyor 812 that will carry those items into atemporary storage. In one example application of a material sortingfacility for processing garbage and recyclables, sorting device 802 isconfigured to fire on target items comprising undesired items (e.g.,garbage items) to cause them to be conveyed into the temporary storage(e.g., a residue disposal) and not fire on non-target desired items(e.g., recyclable items) so that the desired recyclable items can berecirculated to and processed again by a sorting line to sort thedifferent types of recyclable items into their corresponding materialtype collection containers.

FIG. 9 is a diagram showing an example of a detachable sorting device.In some embodiments, one or more of sorting devices 606 a, 606 b, 606 c,606 d, 606 e, 606 f, 606 g, 606 h, and 606 i of FIG. 6 can beimplemented with sorting device 900 of FIG. 9 . In some embodiments, oneor more of sorting devices 702 a, 702 b, 702 c, and 702 d of FIG. 7 canbe implemented with sorting device 900 of FIG. 9 .

In the example of FIG. 9 , detachable sorting device 900 comprisesmanifolds 906 that hold sets of valves that will be attached viapneumatic tubes (not shown in FIG. 9 ) to sorting mechanisms thatcomprise an array of air orifices 908. Different sections of array ofair orifices 908 will shoot air at target items as they fall off aconveyor device, depending on where the target items were on theconveyor belt and the estimated dimensions (e.g., length and width) ofthe target items, to change the trajectory of the target items such thatthey fall onto a target conveyor that will carry them into acorresponding collection container for storing the particular materialtype of the target items.

As shown in FIG. 9 , sorting device 900 can be detachable from a sortingline because sorting device 900 is not physically attached to the othermodular components (e.g., conveyor device) of a sorting line. Instead,sorting device 900 is configured to roll onto tracks 904 that areattached to the floor of the facility. As such, sorting device 900 canbe easily taken out of a sorting line (e.g., for maintenance and repair)and then reinserted into the correct position within the sorting line bysimply being rolled back onto tracks 904, which ensures that the sortingdevice will always be placed in the same position (to avoid needing torecalibrate the position of the sorting device relative to that of theconveyor device, etc.). Handles 902 located on the side of sortingdevice 900 make it easier for a user to pull and push the sorting devicein and out of the sorting line.

Alternative to the detachable sorting device that can be rolled ontotracks that is shown in FIG. 9 , in some embodiments, the sorting devicecan be removable from a sorting line but not attached to the ground. Aspecific example of a removable sorting device is one that can beattached and/or fastened onto a conveyor device. That way, the removablesorting device can still be unfastened from the conveyor device forrepair or maintenance but also can be added back into the sorting linein a consistent position.

Any type of detachable sorting device such as the examples describedherein would enable the use of interchangeable sorting devices, whichwould help prevent any down time in the material recovery facility whena sorting device is to be repaired or maintained.

FIG. 10 is a diagram showing an embodiment of an efficient materialrecovery facility with multiple, parallel sorting lines. The examplematerial recovery facility shown in FIG. 10 may be implemented forsorting recyclable materials. In the example of FIG. 10 , examplematerial recovery facility 1000 includes a bird's eye view of fourparallel sorting lines (sorting lines 1004, 1006, 1008, and 1010) thatfan out from a common source, loading belt 1002, and also fan back intoa common recirculation conveyor, recirculation conveyor 1012. Addingparallel sorting lines to a material recovery facility willsignificantly increase recovery throughput through parallelized sortingactivity. Furthermore, each of the sorting lines can be implementedusing a series of modular sorting units (e.g., such as modular sortingunit 100 of FIG. 1 ), which can reduce costs and improve consistency ofmaterial sortation. In the specific example that is shown in FIG. 10 ,prior to being transported and spread across sorting lines 1004, 1006,1008, and 1010, the stream of materials can be preprocessed by commonpreprocessing components like a shredder (e.g., to reduce the size oflarger items) and a magnet (e.g., to screen out ferrous materials fromentering the sorting lines). The input machinery equipment used forpreprocessing that is shown in the example of FIG. 10 is merely anexample and in practice, any type of preprocessing equipment (e.g.,magnet, shredder, screeners, etc.) and in any sequence can be used topreprocess the stream of materials at any point within or in advance ofa sorting line. Each of sorting lines 1004, 1006, 1008, and 1010includes a respective series of conveyor devices that is each associatedwith a corresponding sorting device. Each sorting device is coupledto/in communication with a pair of an object recognition device and asorting control device (not shown in FIG. 10 ) that is configured toscan and analyze the items that are being moved towards it by a conveyordevice. In some embodiments, each of sorting lines 1004, 1006, 1008, and1010 may be implemented similarly to the example sorting line of FIG. 6and the example sorting line of FIG. 7 . In the example of FIG. 10 ,each of the sorting devices is labeled as “Sorting Device A” or “SortingDevice B.” Each such sorting device may refer to an instance of a typeof a sorting device with a different sorting mechanism (e.g., airorifice, suction, pusher, robotic arm, diverters, or otherwise) and/oran instance of a sorting device with a particular set of configuredparameters (e.g., suppression thresholds, target material type(s), andtarget item identification thresholds). In this example, each instanceof “Sorting Device A” or “Sorting Device B” in each of sorting lines1004, 1006, 1008, and 1010 is configured to identify and fire on targetitems of a particular type of material. The fired-on target items areremoved from the stream of materials that is being transported througheach sorting line and are then deposited onto a target conveyor (e.g.,that is moving in a direction that is orthogonal to a direction in whichmaterials are moving along the sorting lines) or through transfer tubes.Each target conveyor or transfer tube is configured to transportdeposited target items to one or more bunkers for storing recoveredmaterials of a particular material type. The specific example types ofmaterials that are being sorted in FIG. 10 are related to recyclablematerials. As shown in the example of FIG. 10 , the target items thatare deposited onto the target conveyor(s) that run through one row of“Sorting Device B” sorting devices (across sorting lines 1004, 1006,1008, and 1010) are transported to those of collection containers 1014for storing “UBC” type materials, “HDPE Color” type materials, and “HDPEClear” type materials. The target items that are deposited onto thetarget conveyor(s) that run through another row of “Sorting Device B”sorting devices (across sorting lines 1004, 1006, 1008, and 1010) aretransported to those of collection containers 1014 for storing “PETColor” type materials, “Non-UBC AI” type materials, and “PET Clear” typematerials. The target items that are deposited onto the targetconveyor(s) that run through a first row of “Sorting Device A” sortingdevices (across sorting lines 1004, 1006, 1008, and 1010) aretransported to those of collection containers 1014 for storing “#3-7s”type materials, “Cartons” type materials, and “Spare storage” typematerials. The target items that are deposited onto the targetconveyor(s) that run through a second and a third row of “Sorting DeviceA” sorting devices (across sorting lines 1004, 1006, 1008, and 1010) aretransported to those of collection containers 1014 for storing “Officepaper” type materials, “News” type materials, and “OCC” type materials.For example, the row of “Diverter” sorting devices (across sorting lines1004, 1006, 1008, and 1010) may each be configured to select items (thathad not been removed from the stream by a previous sorting device) fromtheir respective sorting lines to be deposited onto recirculationconveyor 1012, which is configured to transport the selected items backto the source of sorting lines 1004, 1006, 1008, and 1010, loading belt1002. The recirculated materials are then processed through all theshared components of the facility (e.g., the shredder, magnet) beforebeing dispersed among the four sorting lines, sorting lines 1004, 1006,1008, and 1010, for a subsequent pass through those sorting lines. Thoseitems that are not selected by “Diverter” sorting devices forrecirculation are deposited into the “Residue” storage. As mentionedabove, the same stream of materials may be recirculated through thesorting lines 1004, 1006, 1008, and 1010 until a set of recirculationcriteria is met. While the specific example types of materials that arebeing sorted in FIG. 10 are related to recyclable materials, the examplesorting lines shown in FIG. 10 can be used to sort through any type ofmaterial.

FIG. 11 is a diagram showing another embodiment of an efficient materialrecovery facility with multiple, parallel sorting lines. In the exampleof FIG. 11 , the example material recovery facility includes a bird'seye view of eight parallel sorting lines that fan out from a commonsource and also fan back into common recirculation conveyors. Each ofthe sorting lines can be implemented using a series of modular sortingunits (e.g., such as modular sorting unit 100 of FIG. 1 ), which canreduce costs and improve consistency of material sortation. Prior tobeing transported and spread across the eight sorting lines, the set ofmaterials is preprocessed by common preprocessing components like ashredder (e.g., to reduce the size of larger items), a ferrous belt(e.g., to screen out ferrous materials from entering the sorting lines),a hand sorting station, and an augur sort. The particular equipment usedfor preprocessing that is shown in the example of FIG. 11 is merely anexample in practice and any type of preprocessing equipment (e.g.,magnet, shredder, screeners, etc.) and in any sequence can be used topreprocess the stream of materials at any point within or in advance ofa sorting line. The preprocessed set of materials is then distributed bythe motion of the conveyor belts, devices that separate items(“sparsifiers”), and the balancers across the eight sorting lines. Uponbeing distributed to a particular sorting line, the items are spreadfurther apart from each other using a tool that mechanically separatesmaterials from each other. Each of the eight sorting lines includes arespective series of conveyor devices (labeled as “Primary loopconveyors” in FIG. 11 ) that are each followed by a correspondingsorting device that is coupled to an object recognition device and acorresponding sorting control device. In the example of FIG. 11 , eachobject recognition device is labeled as “Object Recognition Device.”Each instance of “Object Recognition Device” in FIG. 11 may, forexample, include a corresponding sorting control device. Each sortingline includes two example types of sorting devices respectively referredto as “Sorter A” and “Sorter B.” Similar as described above, materialsthat are processed by a particular sorting line are transported from oneconveyor device to the next in the sorting line. Before the materialsfall off a conveyor device, they are scanned by the Object RecognitionDevice” and corresponding sorting control device that are located overthe conveyor device. That “Object Recognition Device” and correspondingsorting control device then identify to its corresponding sorting device(a “Sorter A” or a “Sorter B” system), which items are target items.Once the target items reach a corresponding sorting range of a sortingdevice, the corresponding “Sorter A” or “Sorter B” sorting device willfire on the target items such that they are deposited onto a targetconveyor (or transfer tube) that transports the target items tocorresponding storage containers. In the example of FIG. 11 , a “Brain”object recognition device and corresponding sorting control device areplaced in front of each storage container and can identify to a thirdexample type of sorting device (which is referred to as “Sorter C”)whether “Sorter C” should fire on certain target items to deposit theminto the storage containers. Each such sorting device of “Sorter A,”“Sorter B,” and “Sorter C” may refer to an instance of a type of asorting device with a different sorting mechanism (e.g., air orifice,suction, pusher, robotic arm, diverter, or otherwise) and/or an instanceof a sorting device with a particular set of configured parameters(e.g., suppression thresholds, target material type(s), and target itemidentification thresholds). The non-target items that are not fired onby the sorting devices “Sorter A” and “Sorter B” in a sorting line willland onto the next conveyor device in the same sorting line. The lastsorting device in each sorting line will perform selective recirculationby separating all the remaining items that are desired to berecirculated through the sorting lines for another pass from those ofthe remaining items that are not desired to be recirculated. In theexample of FIG. 11 , the undesired items will be discarded while theitems that are selected for recirculation are transported by therecirculating conveyors back to the shared components at the source ofthe sorting lines.

FIG. 12 is a flow diagram showing an embodiment of a process forrecirculating a set of materials in a material recovery facility. Insome embodiments, process 1200 is implemented by a modular sorting unitsuch as modular sorting unit 100 of FIG. 1 or a material sortingfacility such as the example material recovery facility of FIG. 6 , theexample sorting line of FIG. 7 , the example material recovery facilityof FIG. 10 , and the example material recovery facility of FIG. 11 . Insome embodiments, specifically, process 1200 is implemented by a sortingcontrol device (e.g., such as the example sorting control device of FIG.2A) that is associated with one or more modular sorting units in amaterial recovery facility.

Process 1200 shows an example process in which a set of items that wasnot removed by a first sorting device can be recirculated towards asecond sorting device for an additional pass at being sorted.Recirculating a set of items through one or more sorting devices formultiple passes may allow target items (e.g., items that are desired tobe recovered) that were missed by a sorting device during one pass topotentially be removed by a sorting device in a later pass. Ultimately,the advantage of recirculating a set of items through one or moresorting devices more than once is to improve the recovery rate ofdesired items from the set and improve the overall recovery efficiencyof the material recovery facility.

At 1202, sensed data associated with a set of items on a conveyor deviceis obtained. Sensed data associated with a stream of items on a conveyordevice is obtained via one or more sensors. For example, one type ofsensor is an object recognition device such as a camera that is pointingtowards the items on the conveyor device and the resulting sensed datamay be one or more images of the items.

At 1204, a first target item to be targeted by a first sorting device isdetermined based at least in part on the sensed data. In someembodiments, a target item is identified from the sensed data (e.g.,image(s)) (e.g., by a sorting control device that corresponds to theobject recognition device) for a sorting device using a set of targetitem criteria that has been configured for that sorting device. Forexample, the target item is an item that is desired to be recovered. Thesorting device can be located over the conveyor device, to the side ofthe conveyor device, or at the end of the conveyor device.

At 1206, an instruction is sent to the first sorting device to cause thefirst sorting device to remove the first target item, wherein at leastone item other than the first target item from the set of items is to bemoved towards a second sorting device. An instruction is sent (e.g., bythe sorting control device) to the sorting device to instruct thesorting device to perform a sorting action to remove the target itemfrom the stream of materials. In a first example, where the sortingdevice is located at the end of the conveyor device, the sorting devicecan remove the target item out of the stream of materials by deflecting(e.g., using a physical paddle or an airflow) the target item, after itfalls off of the conveyor device, into a collection container. In asecond example, where the sorting device is located over the conveyordevice, the sorting device can remove the target item off of theconveyor device by suctioning the target item and then dropping thepicked-up target item into a collection container. In a third example,where the sorting device is located on the side of the conveyor device,the sorting device can remove the target item off of the conveyor deviceby pushing the target item into a collection container (e.g., located onthe other side of the conveyor device).

The other items that were not removed by this first sorting device arethen transported (e.g., by a conveyor device) to a second sorting devicethat is of the same type of sorting device as the first sorting device.For example, the first sorting device and the second sorting device canbe the same type of sorting device by using the same type of sortingmechanisms. In some embodiments, prior to reaching the second sortingdevice, sensors are used to capture sensed data associated with thisremaining set of items, the sensed data is analyzed to determine atleast one target item among the set, and then the second sorting deviceis instructed to remove the at least one target item. For example, thesecond sorting device can be instructed to perform a sorting action on atarget item on which firing by the first sorting device was suppressedand/or on a target item for which the first sorting device hadunsuccessfully removed from the stream of items. In a first example, thefirst sorting device can be associated with a first modular sorting unitand this other, second sorting device can be associated with a secondmodular sorting unit. In a second example, the remaining set of itemsare recirculated back to the same sorting device after being passedthrough the same object recognition device associated with the sortingdevice (i.e., the “first” sorting device and the “second” sorting deviceare actually the same sorting device). In a third example, the remainingset of items are recirculated to a second sorting device that is locatedin a different sorting line than the one in which the first sortingdevice is located.

In some embodiments, the set of items that remain in the stream afterpassing through the second sorting device (e.g., items that were notfired on by the second sorting device) can be recirculated back to thefirst sorting device (e.g., via a recirculation conveyor, air ducting,or other methods of conveyance) for another pass through the objectrecognition device/sorting control device associated with the firstsorting device, and then potentially towards the second sorting deviceagain, and so forth, until a stop condition is met.

FIG. 13 is a flow diagram showing an embodiment of a process forrecirculating a set of materials in a material recovery facility. Insome embodiments, process 1300 is implemented by a modular sorting unitsuch as modular sorting unit 100 of FIG. 1 or a material sortingfacility such as the example material recovery facility of FIG. 6 , theexample sorting line of FIG. 7 , the example material recovery facilityof FIG. 10 , and the example material recovery facility of FIG. 11 . Insome embodiments, specifically, process 1300 is implemented by a sortingdevice (e.g., such as the example sorting device of FIG. 2B) that isassociated with one or more modular sorting units in a material recoveryfacility.

At 1302, a first instruction to remove a first target item from a set ofitems is processed. In various embodiments, the instruction is receivedfrom a sorting control device. In some embodiments, the instruction wasgenerated by a sorting control device using a process such as process1200 of FIG. 12 . In some embodiments, the instruction was generated bya processor that is local to the sorting device. In some embodiments,the instruction was generated by a processor that is remote to thesorting device (e.g., such as a processor that is associated with acloud server or located elsewhere within the material recoveryfacility). In some embodiments, the instruction can describe when thesorting device should perform a sorting action (“fire”) and/or how thesorting device should perform the sorting action. For example, the firstinstruction can instruct the sorting device to perform the sortingaction using a selected portion of its sorting mechanisms for aprescribed duration of time using a prescribed amount of force.

At 1304, in response to the first instruction, a first sorting action isperformed to remove the first target item from the set of items. Thesorting device will perform the sorting action on a target item inaccordance with the instruction. For example, the target item on whichthe sorting action was performed is deposited into a collectionmechanism. The sorting device is configured to perform the sortingaction based on the sorting device type of the sorting device. Forexample, the type of the sorting device is associated with the type ofsorting mechanisms that are employed by the sorting device. In a firstexample, where the sorting device uses one or more arrays of airorifices as sorting mechanisms, the sorting device can perform thesorting action on the target item by shooting airflow(s) at the targetitem, after the target item falls off of the conveyor device, to deflectthe target item into a collection container. In a second example, wherethe sorting device uses one or more suction cups that are actuated byrobotic arms, the sorting device can perform the sorting action bylowering the suction cups onto the target item, picking up the suctionedtarget item off the conveyor device, and then dropping the picked-uptarget item into a collection container. In a third example, where thesorting device comprises one or more air vents, the sorting device canperform a sorting action on the target item by vacuuming the target itemoff of the conveyor device through a tube at the other end of which thetarget item will drop into a collection container.

The remaining items that the first sorting device was not instructed toremove are to be transported (e.g., via a conveyor device) towardsanother sorting device. For example, the first sorting device and thesecond sorting device can be the same type of sorting device by usingthe same type of sorting mechanisms. In some embodiments, prior toreaching the second sorting device, sensors are used to capture senseddata associated with this remaining set of items, the sensed data isanalyzed to determine at least one target item among the set, and thenthe second sorting device is instructed to remove the at least onetarget item. For example, the second sorting device can be instructed toperform a sorting action on a target item on which firing by the firstsorting device was suppressed and/or on a target item for which thefirst sorting device had unsuccessfully removed from the stream ofitems. In a first example, the first sorting device can be associatedwith a first modular sorting unit and this other, second sorting devicecan be associated with a second modular sorting unit. In a secondexample, the remaining set of items are recirculated back to the samesorting device after being passed through the same object recognitiondevice associated with the sorting device (i.e., the “first” sortingdevice and the “second” sorting device are actually the same sortingdevice). In a third example, the remaining set of items are recirculatedto a second sorting device that is located in a different sorting lineother than the one in which the first sorting device is located.

FIG. 14 is a flow diagram showing an example of a process fordynamically reconfiguring tunable parameters associated with a materialrecovery facility. In some embodiments, process 1400 is implemented by amodular sorting unit such as modular sorting unit 100 of FIG. 1 , theexample material recovery facility of FIG. 6 , the example sorting lineof FIG. 7 , the example material recovery facility of FIG. 10 , or theexample material recovery facility of FIG. 11 .

Process 1400 shows an example of a material recovery facility in whichdifferent tunable parameters can be adjusted in response to eventsdetected at the facility. In various embodiments, the tunable parametersfor an entire or at least portion of a material recovery facility can bereconfigured/adjusted/activated programmatically based on configuredrules and/or a trained machine learning model for outputting updatedparameters in response to an input of a detected event. Process 1400 maybe repeated to continuously monitor for and accommodate events thatoccur at the material recovery facility. By programmatically adjustingvarious aspects of the material recovery facility in response todetected events, less human intervention is needed to monitor andmanually modify the updating of sorting parameters, which ultimatelyleads to greater efficiency and cost savings.

At 1402, an event is detected. An event is detected with respect to thematerial recovery facility. In some embodiments, the event is detectedby one or more sensors (e.g., an infrared camera, visual spectrumcamera, volumetric sensing, or some combination thereof or other sensedinputs) that are placed along one or more sorting lines of the materialrecovery facility. In some embodiments, the detected event is a userinput via a user interface. In some embodiments, the detected event is ameasured metric (e.g., a purity level or a recovery rate) that isassociated with the recovered contents of one or more collectioncontainers at the material recovery facility.

In some embodiments, the detected event is a received metric that isdetermined based on an indication received from or a query to anexternal source (e.g., third party server or a cloud server). In a firstexample, if a received market-related metric indicates that MaterialType A is in high demand (e.g., a demand side interest), then thematerial recovery facility can be dynamically reconfigured to targetmore of items of Material Type A. In a second example, if a receivedmetric indicates that more items of Material Type B are included in thestream of materials to be sorted at the material recovery facility(e.g., a supply side metric), then the material recovery facility can bedynamically reconfigured to target more items of Material Type B. In athird example, if a received metric indicates that it is more economicalto ship a large quantity of Material Type C at once, then the materialrecovery facility can be dynamically reconfigured to target more itemsof Material Type C. Other examples of received metrics may include aweather-related metric or a metric related to the recovered materials ina different material recovery facility.

At 1404, it is determined whether a conveyor device is needed to beadjusted. In the event that a conveyor device is needed to be adjusted,control is transferred to 1406. Otherwise, in the event that a conveyordevice is not needed to be adjusted, control is transferred to 1408. Forexample, one or more conveyor devices of the material recovery facilitymay be adjusted when there is a jam detected or when the speed ofsorting through items is to be adjusted.

At 1406, a conveyor device is adjusted. For example, a conveyor devicethat is determined to be adjusted can have its speed and/or angleadjusted (e.g., to resolve an issue of the detected event such as toremove a jam and/or to optimize a metric such as increasing thethroughput of the material recovery facility).

At 1408, it is determined whether a sorting device is needed to beadjusted. In the event that a sorting device is needed to be adjusted,control is transferred to 1410. Otherwise, in the event that a sortingdevice is not needed to be adjusted, control is transferred to 1412. Forexample, a sorting device can be adjusted to change the manner in whichthe device performs sorting.

At 1410, a sorting device is adjusted. In a first example, a sortingdevice can be adjusted to target different items. In a second example, asorting device can be adjusted to perform the removal of a target itemusing a different degree of force (e.g., a different force of airflow todeflect the target item into a collection container). In a thirdexample, a sorting device can be adjusted to perform sorting using adifferent set of suppression criteria (i.e., the sensitivity with whichthe sorting device determines whether or not to suppress firing on atarget item that is in proximity to a non-target item can be adjusted).In a fourth example, a sorting device can be adjusted to drop/deflecttarget items into one or more new collection containers (e.g., thesorting device can be adjusted to drop off or deflect target items intodifferent locations associated with different collection containers).

At 1412, it is determined whether an item adhesion technique is neededto be adjusted. In the event that an item adhesion technique is neededto be adjusted, control is transferred to 1414. Otherwise, in the eventthat an item adhesion technique is not needed to be adjusted, control istransferred to 1416. For example, an item adhesion may be adjusted whenit is determined that items are moving relative to the surface of aconveyor device (e.g., because of the speed of the conveyor belt and/orthe weight/shape of the items), which is undesirable because themovement could interfere with the calibrated alignment between theconveyor device and a corresponding sorting device.

At 1414, an item adhesion technique is adjusted. For example, an itemadhesion technique comprises a technique that causes items to stay morestatic relative to the surface of a conveyor device. Specific examplesof item adhesion techniques include a fan, air lamination, and/orelectric adhesion. An item adhesion technique can be adjusted byincreasing or decreasing the degree to which the technique causes itemsto remain static in position on the conveyor device(s).

At 1416, it is determined whether a jam removal technique is needed tobe activated. In the event that a jam removal technique is needed to beactivated, control is transferred to 1418. Otherwise, in the event thata jam removal technique is not needed to be activated, control istransferred to 1420. For example, a jam can be detected along a sortingline if it appears that the items are moving slower than expected on theconveyor device(s).

At 1418, a jam removal technique is activated. For example, a jamremoval technique is a mechanical or airflow-based technique that isactivated to create more physical separation between the items in thestream of materials.

At 1420, it is determined whether sorting line(s) are needed to beadjusted. In the event that sorting line(s) are needed to be adjusted,control is transferred to 1422. Otherwise, in the event that sortingline(s) are not needed to be adjusted, control is transferred to 1424.For example, one or more sorting lines in a material recovery facilitycan be adjusted in response to a detection for a different throughput atthe facility and/or the detected quantity of items to be sorted at thefacility.

At 1422, sorting line(s) are to be adjusted. Where there is a detectedneed for greater throughput and/or a detected large quantity of items tobe sorted, for example, additional sorting lines can be activated.

At 1424, it is determined whether recirculation techniques are needed tobe adjusted. In the event that techniques are needed to be adjusted,control is transferred to 1426. Otherwise, in the event that techniquesare not needed to be adjusted, control is transferred to 1428. Forexample, recirculation with respect to one or more sorting lines in amaterial recovery facility can be adjusted in response to a detectionfor more recirculation of the same set of materials and/or a user inputto recirculate items to a different location within the materialrecovery facility.

At 1426, recirculation techniques are to be adjusted. For example,different recirculation routes/techniques can be activated (ordeactivated) to enable (or disable) more instances of recirculation of aset of items.

At 1428, it is determined whether a notification should be sent. In theevent that a notification should be sent, control is transferred to1430. Otherwise, in the event that a notification should not be sent,the process ends. For example, a notification can be sent to a userinterface and/or to a user's mobile device to inform the user of manualintervention that is needed at the material recovery facility.

At 1430, a notification is sent. For example, a notification can be sentto a staff member that is associated with operating the materialrecovery facility to inform the staff member of an update at thefacility. For example, the update at the facility may be informationaland/or to inform the staff member to manually reconfigure a portion ofthe facility such as add or remove modular sorting units in one or moresorting lines (e.g., in response to an increase or a decrease in thenumber of items to sort) and/or manually change the recirculationequipment to reroute the destination of the recirculation of itemswithin the facility. In another example, a notification can be sent to athird party such as a supplier of items to sort at the facility toinform the supplier that more materials of a particular type are indemand (e.g., by buyers of recovered materials) and should be sent tothe facility for sorting.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. A system, comprising: a first conveyor device;and a sorting device; wherein the first conveyor device is angledrelative to a plane, wherein the first conveyor device includes a lowerend and a higher end relative to the plane; wherein the first conveyordevice is configured to transport a set of items towards the sortingdevice; wherein the sorting device is configured to perform a firstsorting action to remove a first item from the set of items subsequentto the first item falling off of the higher end of the first conveyordevice; wherein a second item from the set of items on which the sortingdevice does not perform a second sorting action lands on a secondconveyor device; and wherein the first conveyor device and the secondconveyor device are both located on the plane.
 2. The system of claim 1,wherein the lower end comprises a first lower end, wherein the higherend comprises a first higher end, and wherein the second conveyor deviceis angled relative to the plane, wherein the second conveyor deviceincludes a second lower end and a second higher end relative to theplane, and wherein the second lower end of the second conveyor device isto receive the second item.
 3. The system of claim 2, wherein the firstconveyor device and the second conveyor device each form an anglebetween 5 though 15 degrees relative to the plane.
 4. The system ofclaim 1, wherein the plane comprises a floor, a level, a surface, or aset of collection containers.
 5. The system of claim 1, wherein thesorting device comprises an array of air orifices that are configuredperform the first sorting action by shooting air on the first item. 6.The system of claim 5, wherein the array of air orifices perform thefirst sorting action by shooting air on the first item towards theplane.
 7. The system of claim 5, wherein the array of air orificesperform the first sorting action by shooting air on the first item awayfrom the plane.
 8. The system of claim 1, wherein the sorting devicecomprises one or more pushing mechanisms that are configured to performthe first sorting action by striking the first item.
 9. The system ofclaim 1, further comprising a collection container placed beneath thehigher end of the first conveyor device.
 10. The system of claim 1,wherein the sorting device comprises a first sorting device, and furthercomprising a second sorting device configured to perform a third sortingaction to remove a third item from the set of items subsequent to thethird item falling off of the higher end of the first conveyor device,wherein the first sorting device is configured to perform the firstsorting action to direct the first item into a first collectioncontainer, and wherein the second sorting device is configured toperform the third sorting action to direct the third item into a secondcollection container.
 11. The system of claim 10, wherein the firstcollection container is at least partially underneath the higher end ofthe first conveyor device, and wherein the second collection containeris at least partially above the second conveyor device.
 12. The systemof claim 1, further comprising a recirculation conveyor device that isconfigured to return items that remain in the set of items back to thefirst conveyor device.
 13. The system of claim 1, further comprising: afirst sorting control device configured to: obtain sensed dataassociated with the set of items on the first conveyor device; determinethat the first item is to be targeted by the sorting device based atleast in part on the sensed data and a set of target item criteria; andsend an instruction to the sorting device to perform the first sortingaction on the first item.
 14. The system of claim 13, wherein the senseddata comprises one or more images of the set of items.
 15. The system ofclaim 1, wherein the lower end comprises a first lower end, wherein thehigher end comprises a first higher end, wherein the second conveyordevice is angled relative to the plane, wherein the second conveyordevice includes a second lower end and a second higher end relative tothe plane, and wherein the second lower end of the second conveyordevice is to receive the second item, and further comprising: a firstsorting control device configured to: obtain sensed data associated withthe set of items on the first conveyor device; determine that the seconditem is not to be targeted by the first sorting device based at least inpart on a set of suppression criteria; and send, to a second sortingcontrol device, a determination to cause the second sorting controldevice to instruct a second sorting device to target the second item,wherein the second sorting device is configured to perform a thirdsorting action on the second item subsequent to the second item fallingoff the second higher end of the second conveyor device.
 16. The systemof claim 1, further comprising: is a first sorting control deviceconfigured to: determine that an event has been detected; and inresponse to the event, perform dynamic reconfiguration including toupdate a parameter associated with the system.
 17. The system of claim16, wherein the event comprises one or more of the following: datadetected by one or more sensors, a user input, a measured metricassociated with recovered items, and a received metric that is receivedfrom an external source.
 18. The system of claim 16, wherein theparameter is associated with one or more of the following: a speedassociated with the first conveyor device, an angle associated with thefirst conveyor device, a set of target item criteria associated with thesorting device, and a set of suppression criteria associated with thesorting device.
 19. The system of claim 16, wherein the parameter isassociated with one or more of the following: a technique for adheringitems to the first conveyor device associated with the system, a jamremoval technique associated with the system, a configuration of one ormore sorting lines associated with the system, and a configurationassociated with recirculation of items associated with the system. 20.The system of claim 1, wherein the first conveyor device and the secondconveyor device belong to a same sorting line within a material recoveryfacility.